안드로이드 폰을 이용한 리눅스 기반 쿼드콥터의 모터 제어 기법

A Scheme of Motor Control for Linux-based Quadcopter with Android Phone

This paper describes a scheme of motor control for Quadcopter with Android phone instead of a dedicated controller. Basically, user's requests (channel and speed) are inquired and transferred to the Quadcopter with Android phone, then the embedded Linux system receives them and controls the motor speed of corresponding channel. We have designed and implemented an APP. for user interface and the modules of device driver and timer ISR for the motor control. Finally, we have up-loaded the APP. and the modules to an Android (ver.4.0) phone and ARM processor (S3C6410)-based embedded board respectively, and reviewed the functional correctness by testing the motor control of Quadcopter.